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cs.RO2026
WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation
Chuan Qin, Shaoting Zhu, Siyuan Luo +4
Humanoid loco-manipulation demands coordinated body and hand behavior, while conventional robot pre-training data provide limited coverage of such whole-body motion. We present WB-…
cs.RO2026
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5
Humanoid whole-body control has made significant progress in recent years, yet existing approaches remain limited to few-skill policies with heavy reward engineering, or motion tra…